CARLA_Bird_Eye_View

This file make one single image to Bird's Eye View image

Car :: Tesla Model 3

Output Image Resolution :: (512,665)

If you want to change the input image resolution, you have to calibrate the IMAGE_RATIO in BEV.py

Original Image

Converted Image

Requirments

CARLA : https://carla.readthedocs.io/en/latest/start_quickstart/ ros(Melodic) : http://wiki.ros.org/melodic/Installation/Ubuntu

Checked at Ubuntu 18.04 + ros Melodic

How to run

python BEV_main.py

Default settings of BEV_main.py is saving BEV image.

At first it will make a directory 'YYYYMMDD_HHMMSS'

BEV image will be saved in the directory.

If you want publish that image through ros

python BEV_main.py --save False --publish True

It will publish the BEV image through ros

Topic name is 'Image/BEV/Front'